<!DOCTYPE html>

<html>

  <head>
    <title>Underactuated Robotics</title>
    <meta name="Underactuated Robotics" content="text/html; charset=utf-8;" />

    <script type="text/javascript" src="chapters.js"></script>
    <script type="text/javascript" src="htmlbook/book.js"></script>

    <script src="htmlbook/mathjax-config.js" defer></script> 
    <script type="text/javascript" id="MathJax-script" defer
      src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-svg.js">
    </script>

    <link rel="stylesheet" href="htmlbook/highlight/styles/default.css">
    <script src="htmlbook/highlight/highlight.pack.js"></script> <!-- http://highlightjs.readthedocs.io/en/latest/css-classes-reference.html#language-names-and-aliases -->
    <script>hljs.initHighlightingOnLoad();</script>

    <link rel="stylesheet" type="text/css" href="htmlbook/book.css">
  </head>



<body onload="loadChapter('underactuated');">

<div data-type="titlepage">
  <header>
    <h1><a href="underactuated.html" style="text-decoration:none;">Underactuated Robotics</a></h1>
    <p data-type="subtitle">Algorithms for Walking, Running, Swimming, Flying, and Manipulation</p> 
    <p style="font-size: 18px;"><a href="http://people.csail.mit.edu/russt/">Russ Tedrake</a></p>
    <p style="font-size: 14px; text-align: right;"> 
      &copy; Russ Tedrake, 2020<br/>
      <a href="tocite.html">How to cite these notes</a><br/>
    </p>
  </header>
</div>

<p><b>Note:</b> These are working notes used for <a
href="http://underactuated.csail.mit.edu/Spring2020/">a course being taught
at MIT</a>. They will be updated throughout the Spring 2020 semester.  <a 
href="https://www.youtube.com/channel/UChfUOAhz7ynELF-s_1LPpWg">Lecture  videos are available on YouTube</a>.</p> 

<chapter><h1>Planning Under
Uncertainty</h1>

  <todo>POMDP, SLAG, Belief-space sample-based planning, ...</todo>

  <todo>iLQG (following LQG from Output Feedback chapter), iLEG (papers by
  Buchli, then Righetti)</todo>
</chapter>


<div id="footer">
  <hr>
  <table style="width:100%;">
    <tr><td><em>Underactuated Robotics</em></td><td align="right">&copy; Russ
      Tedrake, 2020</td></tr>
  </table>
</div>


</body>
</html>
  
